#include "PointPositioning.h"
#include <cmath>

PointPositioning::PointPositioning() {}

PointPositioning::~PointPositioning() {}

XYZ PointPositioning::calculatePosition(const obsEpoch& obsData, const NavData& navData, const XYZ& approxPos) {
    // 1. 计算卫星位置
    std::vector<XYZ> satPositions = calculateSatellitePositions(obsData, navData);
    
    // 2. 计算几何距离矩阵
    Matrix geometryMatrix = calculateGeometryMatrix(approxPos, satPositions);
    
    // 3. 计算误差改正
    Matrix errorCorrections = calculateErrorCorrections(obsData, approxPos, satPositions);
    
    // 4. 最小二乘解算
    //实现最小二乘解算逻辑
    
    return approxPos; // 临时返回近似坐标
}

std::vector<XYZ> PointPositioning::calculateSatellitePositions(const obsEpoch& obsData, const NavData& navData) {
    std::vector<XYZ> positions;
    //实现卫星位置计算逻辑
    return positions;
}

Matrix PointPositioning::calculateGeometryMatrix(const XYZ& receiverPos, const std::vector<XYZ>& satPositions) {
    Matrix geometryMatrix(satPositions.size(), 4);
    //实现几何距离矩阵计算逻辑
    return geometryMatrix;
}

Matrix PointPositioning::calculateErrorCorrections(const obsEpoch& obsData, const XYZ& receiverPos, const std::vector<XYZ>& satPositions) {
    Matrix corrections(satPositions.size(), 1);
    //实现误差改正计算逻辑
    return corrections;
}